CN108436908A - Welding track process algorithm - Google Patents
Welding track process algorithm Download PDFInfo
- Publication number
- CN108436908A CN108436908A CN201810173150.0A CN201810173150A CN108436908A CN 108436908 A CN108436908 A CN 108436908A CN 201810173150 A CN201810173150 A CN 201810173150A CN 108436908 A CN108436908 A CN 108436908A
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- CN
- China
- Prior art keywords
- welding
- track
- point set
- robot
- process algorithm
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0953—Monitoring or automatic control of welding parameters using computing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40523—Path motion planning, path in space followed by tip of robot
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention discloses welding track process algorithms, include the following steps：Obtain space point set；According to point set attribute signal, the track for needing to weld is analyzed；Welding condition setting (the welding number of plies, every layer of welding offset, welding manner, welding groove)；It is arranged according to welding condition, handles welding track；It generates robot and executes sentence；It is transferred to robot and robot is allowed to execute；The algorithm solves the problems, such as this part, by measuring instrument, imports point set data, then the algorithm can generate movement locus.The welding track process algorithm, shorten the preparatory period that product remodeling is regenerated, welding robot is set to be more widely applied, the accuracy in welding process is increased, has operability to minimum point, raises labour productivity simultaneously, solve the problems, such as robot manipulation's hardly possible, the requirement to operation technology is reduced, improves labor intensity, can work under hostile environment.
Description
Technical field
The present invention relates to process algorithm fields, specially welding track process algorithm.
Background technology
Welding processing robot now can be described as bottleneck stage, and welding robot includes mainly that robot and welding are set
Standby two parts, robot is made of robot body and switch board (hardware and software), and welding jig, is with arc-welding and spot welding
Example, then by the source of welding current, the part such as (including its control system), wire-feed motor (arc-welding), welding gun (pincers) forms；Welding track technique
Processing Algorithm must can bring huge impact to Intelligent welding industry, can save a large amount of labour and increase mechanical processing
Safety index, and welding track process algorithm is exactly the important technology for breaking through this bottleneck, is lacked currently on the market
Exactly such technological break-through, there is no being inputted for space point set, to calculate the software of welding track, which fills up
The vacancy of welding profession.
Invention content
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides welding track process algorithm, welding procedure is solved
Processing is required for complicated introduction operation, spends the flood tide time that debugging is gone to produce, which solves at present using machinery welding
This subproblem imports point set data by measuring instrument, and then the algorithm can generate movement locus.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs：
Welding track process algorithm, includes the following steps：Obtain space point set；According to point set attribute signal, analysis
Go out to need the track welded；Welding condition setting (the welding number of plies, every layer of welding offset, welding manner, welding groove)；
It is arranged according to welding condition, handles welding track；It generates robot and executes sentence；It is transferred to robot and robot is allowed to hold
Row；The algorithm solves the problems, such as this part, by measuring instrument, imports point set data, then the algorithm can generate movement
Track.
Preferably, it in step 1), is measured by measuring instrument, generates point set data.
Preferably, in step 2), point set data are transferred to by TCP/IP in the software of industrial personal computer, analyze point set data
Attribute and feature, analyze the track of point set data.
Preferably, in step 3), welding condition, including the number of plies of welding, offset, side are set in industrial personal computer
Formula, groove etc..
Preferably, in step 4), according to welding procedure, point set data track, processing even weldering, layer weldering and spot welding etc. are handled.
Preferably, according to step 5) and step 6), point set track data is exported, robot executes the sentence generated.
(3) advantageous effect
The present invention provides welding track process algorithms, have following advantageous effect：
(1), the process algorithms have filled up the blank of the technology, shorten the preparatory period that product remodeling is regenerated, reduce phase
The equipment investment answered, makes welding robot be more widely applied.
(2), the process algorithms increase the accuracy in welding process, have operability to minimum point, while improving labor
Dynamic productivity.
(3), the process algorithms solve the problems, such as robot manipulation's hardly possible, reduce the requirement to operation technology, improve
Labor intensity can work under hostile environment.
Description of the drawings
Fig. 1 is the operation chart of welding track process algorithm of the present invention；
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of technical solution：Welding track process algorithm, includes the following steps：It obtains
Take space point set；According to point set attribute signal, the track for needing to weld is analyzed,；Welding condition setting (the welding number of plies,
Every layer of welding offset, welding manner, welding groove)；It is arranged according to welding condition, handles welding track；Generate machine
People executes sentence；It is transferred to robot and robot is allowed to execute, go to weld according to track；The algorithm solves asking for this part
Topic imports point set data by measuring instrument, and then the algorithm can generate movement locus.
It in step 1), is measured by measuring instrument, generates point set data, point set data are had into the file in acquiescence
In；In step 2), point set data are transferred to by TCP/IP in the software of industrial personal computer, analyze attribute and the spy of point set data
Sign, analyzes the track of point set data, and the track for needing to weld is calculated using industrial personal computer and point set data；In step 3),
Welding condition, including the number of plies of welding, offset, mode, groove etc. are set in industrial personal computer, automatic welding mould may be implemented
Formula allows robot to be welded according to the parameter of setting；In step 4), according to welding procedure, point set data track is handled, processing connects
Weldering, layer weldering and spot welding etc., allow robot to be welded with different welding manners；According to step 5) and step 6), output point
Collect track data, robot executes the sentence generated, and industrial personal computer is allowed to generate the language that machine human needs executes according to track data
Sentence.
In conclusion the welding track process algorithm, user take the photograph the volume industry of infrared receiver and Tianyuan company
As head is fixed at three meters of the top of operation console, is positioned by the place for instructing the trigger of rifle to weld needs, pass through religion
The button led on rifle is matched with infrared receiver, and the point set of needs is retained according to algorithm, and it is base to take Z-direction space plane
Directrix plane takes N point coordinates (X1, X2) into line slope operation, N+1 (Y1, Y2) point coordinates, by judge Y1 whether with Y2
It is equal to judge whether there is slope, if so, calculate slope by K=(Y2-Y1)/(X2-X1) formula takes N if slope is consistent
+ 1 point, N+2 points continue to judge, until slope changes, exports at first point, last point is instructed into lower step, and slope is not
Unanimously, N point coordinates (X1, Y1, Z1), N+1 point coordinates (X2, Y2, Z2), N+2 point coordinates (X3, Y3, Z3) is taken to calculate circle
Heart coordinate continues to take a little, N+1 point coordinates, N+2 point coordinates, N+3 point coordinates, calculates central coordinate of circle, judges whether one
It causes, if the center of circle is inconsistent, exports at first point, last point, central coordinate of circle, central point passes through the point set data being collected into
TCP/IP is transferred in the software of the industrial personal computer of the diligent electronics HU-803 mainboards of model group, is carried out to point set data using industrial personal computer
It handles, welding track at analysis, it is straight line, space circular arc and multi-line section that data analysis, which is arranged, utilizes industrial personal computer to be arranged and needs
The estimation parameter of welding, including the number of plies, offset, welding manner and the welding groove that weld are needed, it is handled according to welding procedure
Then welding track is generated by industrial personal computer and executes sentence, be supplied to the robot of model peace river MA200 to execute, robot
Order is executed according to sentence, the welding machine for the model Mai Ge meter Te that manipulation is mounted on mechanical hand is welded.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions.By sentence " including one ... the element limited, it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element ", the electricity occurred in this article
Device element is electrically connected with extraneous main controller and 220V alternating currents, and main controller can be that computer etc. has played the routine of control
Know equipment.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. welding track process algorithm, which is characterized in that include the following steps：
1) space point set is obtained；
2) according to point set attribute signal, the track for needing to weld is analyzed；
3) welding condition setting (the welding number of plies, every layer of welding offset, welding manner, welding groove)；
4) it is arranged according to welding condition, handles welding track；
5) it generates robot and executes sentence；
6) it is transferred to robot and robot is allowed to execute.
2. welding track process algorithm according to claim 1, it is characterised in that：In step 1), pass through measuring instrument
Device measures, and generates point set data.
3. welding track process algorithm according to claim 1, it is characterised in that：In step 2), by point set data
It is transferred in the software of industrial personal computer by TCP/IP, analyzes the attribute and feature of point set data, analyze the track of point set data.
4. welding track process algorithm according to claim 1, it is characterised in that：In step 3), in industrial personal computer
Welding condition, including the number of plies of welding, offset, mode, groove etc. are set.
5. welding track process algorithm according to claim 1, it is characterised in that：In step 4), according to Welder
Skill handles point set data track, processing even weldering, layer weldering and spot welding etc..
6. welding track process algorithm according to claim 1, it is characterised in that：According to step 5) and step 6),
Point set track data is exported, robot executes the sentence generated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810173150.0A CN108436908A (en) | 2018-03-02 | 2018-03-02 | Welding track process algorithm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810173150.0A CN108436908A (en) | 2018-03-02 | 2018-03-02 | Welding track process algorithm |
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| Publication Number | Publication Date |
|---|---|
| CN108436908A true CN108436908A (en) | 2018-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810173150.0A Pending CN108436908A (en) | 2018-03-02 | 2018-03-02 | Welding track process algorithm |
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| CN (1) | CN108436908A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238556A (en) * | 2019-05-07 | 2019-09-17 | 上海展湾信息科技有限公司 | Welding track real-time detection method in welding robot welding process |
| CN110871439A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Crawling arc welding robot and control method and device thereof |
| CN110871311A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Crawling arc welding robot and production method and device thereof |
Citations (5)
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| CN101559512A (en) * | 2009-05-21 | 2009-10-21 | 山东大学 | Welding track detection and control method of plate butt weld based on laser ranging |
| US20130236050A1 (en) * | 2012-03-06 | 2013-09-12 | Korea Institute Of Machinery & Materials | Method of post-correction of 3d feature point-based direct teaching trajectory |
| US20140008415A1 (en) * | 2012-07-03 | 2014-01-09 | General Electric Company | Welding system and method for automatic welding |
| CN105171289A (en) * | 2015-09-30 | 2015-12-23 | 厦门理工学院 | Multilayer and multipass welding track planning method for variable-groove-width heavy and medium plates |
| CN107498181A (en) * | 2017-08-19 | 2017-12-22 | 浙江哈尔斯真空器皿股份有限公司 | Improve the method and its automatic welding device of metal thermos cups smooth welding joint degree |
-
2018
- 2018-03-02 CN CN201810173150.0A patent/CN108436908A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101559512A (en) * | 2009-05-21 | 2009-10-21 | 山东大学 | Welding track detection and control method of plate butt weld based on laser ranging |
| US20130236050A1 (en) * | 2012-03-06 | 2013-09-12 | Korea Institute Of Machinery & Materials | Method of post-correction of 3d feature point-based direct teaching trajectory |
| US20140008415A1 (en) * | 2012-07-03 | 2014-01-09 | General Electric Company | Welding system and method for automatic welding |
| CN105171289A (en) * | 2015-09-30 | 2015-12-23 | 厦门理工学院 | Multilayer and multipass welding track planning method for variable-groove-width heavy and medium plates |
| CN107498181A (en) * | 2017-08-19 | 2017-12-22 | 浙江哈尔斯真空器皿股份有限公司 | Improve the method and its automatic welding device of metal thermos cups smooth welding joint degree |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110871439A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Crawling arc welding robot and control method and device thereof |
| CN110871311A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Crawling arc welding robot and production method and device thereof |
| CN110238556A (en) * | 2019-05-07 | 2019-09-17 | 上海展湾信息科技有限公司 | Welding track real-time detection method in welding robot welding process |
| CN110238556B (en) * | 2019-05-07 | 2021-02-23 | 上海展湾信息科技有限公司 | Real-time detection method for welding track in welding process of welding robot |
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Application publication date: 20180824 |